Crate maliput

maliput

Creates Rustacean API for maliput. It is implemented on top of maliput-sys package.

Note: What is maliput? Refer to https://maliput.readthedocs.org.

Description

maliput provides a Rust API implemented on top of FFI bindings provided by maliput-sys package.

Usage

  use maliput::api::RoadNetwork;
  use std::collections::HashMap;

  // Get location of odr resources
  let package_location = std::env::var("CARGO_MANIFEST_DIR").unwrap();
  let xodr_path = format!("{}/data/xodr/TShapeRoad.xodr", package_location);

  let road_network_properties = HashMap::from([
      ("road_geometry_id", "my_rg_from_rust"),
      ("opendrive_file", xodr_path.as_str()),
  ]);

  let road_network = RoadNetwork::new("maliput_malidrive", &road_network_properties);
  let road_geometry = road_network.road_geometry();

  // Excercise the RoadGeometry API.
  println!("linear_tolerance: {}", road_geometry.linear_tolerance());
  println!("angular_tolerance: {}", road_geometry.angular_tolerance());
  println!("num_junctions: {}", road_geometry.num_junctions());

  let lanes = road_geometry.get_lanes();
  println!("num_lanes: {}", lanes.len());
  println!("lanes: ");
  for lane in lanes {
      println!("\tlane id: {}", lane.id());
  }

Examples

• Load maliput::api::RoadNetwork and perform some basic queries against the Road Geometry.

  cargo run --example road_geometry

Benches

• Evaluate the execution of maliput::api::RoadGeometry::to_road_position method.

  cargo bench to_road_position

License

Licensed under BSD 3-Clause.

Modules

api

math

utility

Structs

ResourceManager

ResourceManager